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[Emc-commit] v2.5_branch: Docs: markup fixes
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From: John T. <gi...@gi...> - 2011-05-05 12:12:46
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Docs: markup fixes Signed-off-by: John Thornton <jth...@gn...> http://git.linuxcnc.org/?p=emc2.git;a=commitdiff;h=7c0d707 --- docs/src/hal/tutorial.txt | 432 ++++++++++++++++++++++----------------------- 1 files changed, 208 insertions(+), 224 deletions(-) diff --git a/docs/src/hal/tutorial.txt b/docs/src/hal/tutorial.txt index a1017f8..8268fa2 100644 --- a/docs/src/hal/tutorial.txt +++ b/docs/src/hal/tutorial.txt @@ -28,11 +28,11 @@ completing file names as a shell does, it completes commands with HAL identifiers. You will have to type enough letters for a unique match. Try pressing tab after starting a HAL command: - halcmd: *loa<TAB>* - halcmd: *load* - halcmd: *loadrt* - halcmd: *loadrt deb<TAB>* - halcmd: *loadrt debounce* + halcmd: loa<TAB> + halcmd: load + halcmd: loadrt + halcmd: loadrt deb<TAB> + halcmd: loadrt debounce === The RTAPI environment @@ -63,8 +63,9 @@ In that case, all you need to do is load the required RTOS and RTAPI modules into memory. Just run the following command from a terminal window: - ~$ *cd emc2* - ~/emc2$ *halrun +*halcmd: + ~$ cd emc2 + ~/emc2$ halrun + halcmd: With the realtime OS and RTAPI loaded, we can move into the first example. Notice that the prompt has changed from the shell's "$" to @@ -78,7 +79,7 @@ Manual. It is a realtime component, implemented as a Linux kernel module. To load `siggen` use the `halcmd loadrt` command: - halcmd: *loadrt siggen* + halcmd: loadrt siggen === Examining the HAL @@ -90,11 +91,11 @@ of this document. The first halcmd feature is the show command. This command displays information about the current state of the HAL. To show all installed components: - halcmd: *show comp* - Loaded HAL Components: - ID Type Name PID State - 3 RT siggen ready - 2 User halcmd10190 10190 ready + halcmd: show comp + Loaded HAL Components: + ID Type Name PID State + 3 RT siggen ready + 2 User halcmd2177 2177 ready Since `halcmd` itself is a HAL component, it will always show up in the list. The @@ -107,17 +108,17 @@ that we installed in the previous step. The "RT" under Next, let's see what pins `siggen` makes available: - halcmd: *show pin* - Component Pins: - Owner Type Dir Value Name - 3 float IN 1 siggen.0.amplitude - 3 float OUT 0 siggen.0.cosine - 3 float IN 1 siggen.0.frequency - 3 float IN 0 siggen.0.offset - 3 float OUT 0 siggen.0.sawtooth - 3 float OUT 0 siggen.0.sine - 3 float OUT 0 siggen.0.square - 3 float OUT 0 siggen.0.triangle + halcmd: show pin + Component Pins: + Owner Type Dir Value Name + 3 float IN 1 siggen.0.amplitude + 3 float OUT 0 siggen.0.cosine + 3 float IN 1 siggen.0.frequency + 3 float IN 0 siggen.0.offset + 3 float OUT 0 siggen.0.sawtooth + 3 float OUT 0 siggen.0.sine + 3 float OUT 0 siggen.0.square + 3 float OUT 0 siggen.0.triangle This command displays all of the pins in the HAL - a complex system could have dozens or hundreds of pins. But right now there are only @@ -128,11 +129,11 @@ the component, some the pins have a value of zero. The next step is to look at parameters: - halcmd: *show param* - Parameters: - Owner Type Dir Value Name - 3 s32 RO 0 siggen.0.update.time - 3 s32 RW 0 siggen.0.update.tmax + halcmd: show param + Parameters: + Owner Type Dir Value Name + 3 s32 RO 0 siggen.0.update.time + 3 s32 RW 0 siggen.0.update.tmax The show param command shows all the parameters in the HAL. Right now each parameter has the default value it was given when the component @@ -151,10 +152,10 @@ Most realtime components export one or more functions to actually run the realtime code they contain. Let's see what function(s) `siggen` exported: - halcmd: *show funct* - Exported Functions: - Owner CodeAddr Arg FP Users Name - 00003 b7f74ac5 b7d0c0b4 YES 0 siggen.0.update + halcmd: show funct + Exported Functions: + Owner CodeAddr Arg FP Users Name + 00003 f801b000 fae820b8 YES 0 siggen.0.update The siggen component exported a single function. It requires floating point. It is not currently linked to any threads, so "users" is @@ -170,20 +171,21 @@ we need a realtime thread. The component called `threads` that is used to create a new thread. Lets create a thread called `test-thread` with a period of 1mS (1000000nS): - halcmd: *loadrt threads name1=test-thread period1=1000000* + halcmd: loadrt threads name1=test-thread period1=1000000 Let's see if that worked: - halcmd: *show thread +*Realtime Threads: - Period FP Name (Time, Max-Time) - 999849 YES test-thread ( 0, 0 ) + halcmd: show thread + Realtime Threads: + Period FP Name ( Time, Max-Time ) + 999855 YES test-thread ( 0, 0 ) It did. The period is not exactly 1000000nS because of hardware limitations, but we have a thread that runs at approximately the correct rate, and which can handle floating point functions. The next step is to connect the function to the thread: - halcmd: *addf siggen.0.update test-thread* + halcmd: addf siggen.0.update test-thread Up till now, we've been using `halcmd` only to look at the HAL. However, this time we used the `addf` (add function) command to @@ -192,12 +194,11 @@ actually change something in the HAL. We `test-thread`, and if we look at the thread list again, we see that it succeeded: - halcmd: *show thread +*Realtime Threads: - Period FP Name (Time, - Max-Time) - 999849 YES test-thread ( 0, - 0 ) - 1 siggen.0.update + halcmd: show thread + Realtime Threads: + Period FP Name ( Time, Max-Time ) + 999855 YES test-thread ( 0, 0 ) + 1 siggen.0.update There is one more step needed before the `siggen` component starts generating signals. When the HAL is first started, @@ -206,38 +207,33 @@ completely configure the system before the realtime code starts. Once you are happy with the configuration, you can start the realtime code like this: - halcmd: *start* + halcmd: start Now the signal generator is running. Let's look at its output pins: - halcmd: *show pin* - Component Pins: - Owner Type Dir Value Name - 3 float IN 1 - siggen.0.amplitude - 3 float OUT -0.9406941 siggen.0.cosine - 3 float IN 1 - siggen.0.frequency - 3 float IN 0 siggen.0.offset - 3 float OUT -0.1164055 siggen.0.sawtooth - 3 float OUT 0.379820 siggen.0.sine - 3 float OUT -1 siggen.0.square - 3 float OUT -0.7728110 siggen.0.triangle - - halcmd: *show pin* - Component Pins: - Owner Type Dir Value Name - 3 float IN 1 - siggen.0.amplitude - 3 float OUT 0.9958036 siggen.0.cosine - 3 float IN 1 - siggen.0.frequency - 3 float IN 0 - siggen.0.offset - 3 float OUT 0.9708287 siggen.0.sawtooth - 3 float OUT -0.09151597 siggen.0.sine - 3 float OUT 1 siggen.0.square - 3 float OUT 0.9416574 siggen.0.triangle + halcmd: show pin + Component Pins: + Owner Type Dir Value Name + 3 float IN 1 siggen.0.amplitude + 3 float OUT -0.1640929 siggen.0.cosine + 3 float IN 1 siggen.0.frequency + 3 float IN 0 siggen.0.offset + 3 float OUT -0.4475303 siggen.0.sawtooth + 3 float OUT 0.9864449 siggen.0.sine + 3 float OUT -1 siggen.0.square + 3 float OUT -0.1049393 siggen.0.triangle + + halcmd: show pin + Component Pins: + Owner Type Dir Value Name + 3 float IN 1 siggen.0.amplitude + 3 float OUT 0.0507619 siggen.0.cosine + 3 float IN 1 siggen.0.frequency + 3 float IN 0 siggen.0.offset + 3 float OUT -0.516165 siggen.0.sawtooth + 3 float OUT 0.9987108 siggen.0.sine + 3 float OUT -1 siggen.0.square + 3 float OUT 0.03232994 siggen.0.triangle We did two `show pin` commands in quick succession, and you can see that the outputs are no @@ -252,30 +248,27 @@ can use the `"setp"` command to set the value of a parameter. Let's change the amplitude of the signal generator from 1.0 to 5.0: - halcmd: *setp siggen.0.amplitude 5* + halcmd: setp siggen.0.amplitude 5 Check the parameters and pins again: - halcmd: *show param* - Parameters: - Owner Type Dir Value Name - 3 s32 RO 397 siggen.0.update.time - 3 s32 RW 109100 siggen.0.update.tmax - - halcmd: *show pin* - Component Pins: - Owner Type Dir Value Name - 3 float IN 5 - siggen.0.amplitude - 3 float OUT -4.179375 siggen.0.cosine - 3 float IN 1 - siggen.0.frequency - 3 float IN 0 - siggen.0.offset - 3 float OUT 0.9248036 siggen.0.sawtooth - 3 float OUT -2.744599 siggen.0.sine - 3 float OUT 5 siggen.0.square - 3 float OUT -3.150393 siggen.0.triangle + halcmd: show param + Parameters: + Owner Type Dir Value Name + 3 s32 RO 1754 siggen.0.update.time + 3 s32 RW 16997 siggen.0.update.tmax + + halcmd: show pin + Component Pins: + Owner Type Dir Value Name + 3 float IN 5 siggen.0.amplitude + 3 float OUT 0.8515425 siggen.0.cosine + 3 float IN 1 siggen.0.frequency + 3 float IN 0 siggen.0.offset + 3 float OUT 2.772382 siggen.0.sawtooth + 3 float OUT -4.926954 siggen.0.sine + 3 float OUT 5 siggen.0.square + 3 float OUT 0.544764 siggen.0.triangle Note that the value of parameter `siggen.0.amplitude` has changed to 5, and that the pins now have larger values. @@ -292,7 +285,7 @@ what about next time? We don't want to manually enter a bunch of commands every time we want to use the system. We can save the configuration of the entire HAL with a single command: - halcmd: *save* + halcmd: save # components loadrt threads name1=test-thread period1=1000000 loadrt siggen @@ -311,7 +304,7 @@ HAL and run all these commands, you will get the configuration that for later use, we simply redirect the output to a file: - halcmd: *save all saved.hal* + halcmd: save all saved.hal === Exiting HalRun @@ -319,7 +312,8 @@ When you're finished with your HAL session type "exit" at the halcmd: prompt. Do not simply close the terminal window without shutting down the HAL session. - halcmd: *exit +*~/emc2$ + halcmd: exit + ~/emc2$ === Restoring the HAL configuration @@ -329,12 +323,14 @@ which reads commands from a file, and `-I` (upper case i) which shows the halcmd prompt after executing the commands: - ~/emc2$ *halrun -I -f saved.hal* + ~/emc2$ halrun -I -f saved.hal Notice that there is not a 'start' command in saved.hal. It's necessary to issue it again (or edit saved.hal to add it there): - halcmd: *start +*halcmd: *exit +*~/emc2$ + halcmd: start + halcmd: exit + ~/emc2$ === Removing HAL from memory @@ -342,7 +338,7 @@ If an unexpected shut down of a HAL session occurs you might have to unload HAL before another session can begin. To do this type the following command in a terminal window: - ~/emc2$ *halrun -U* + ~/emc2$ halrun -U == Halmeter [[sec:Tutorial - Halmeter]] @@ -356,16 +352,20 @@ We will use the siggen component again to check out halmeter. If you just finished the previous example, then you can load siggen using the saved file. If not, we can load it just like we did before: - ~/emc2$ *halrun +*halcmd: *loadrt siggen +*halcmd: *loadrt threads - name1=test-thread period1=1000000 +*halcmd: *addf siggen.0.update - test-thread +*halcmd: *start +*halcmd: *setp siggen.0.amplitude 5* + ~/emc2$ halrun + halcmd: loadrt siggen + halcmd: loadrt threads + name1=test-thread period1=1000000 + halcmd: addf siggen.0.update test-thread + halcmd: start + halcmd: setp siggen.0.amplitude 5 === Starting halmeter At this point we have the siggen component loaded and running. It's time to start halmeter. Since halmeter is a GUI app, X must be running. - halcmd: *loadusr halmeter* + halcmd: loadusr halmeter The first window you will see is the "Select Item to Probe" window. @@ -411,7 +411,8 @@ Before we can begin building this new example, we want to start with a clean slate. If you just finished one of the previous examples, we need to remove the all components and reload the RTAPI and HAL libraries: - halcmd: *exit +*~/emc2$ *halrun* + halcmd: exit + ~/emc2$ halrun === Installing the components @@ -427,9 +428,9 @@ following line. In this example we will use the "velocity" control type of stepgen. - halcmd: *loadrt stepgen step_type=0,0 ctrl_type=v,v +*halcmd: *loadrt - siggen +*halcmd: *loadrt threads name1=fast fp1=0 period1=50000 - name2=slow period2=1000000* + halcmd: loadrt stepgen step_type=0,0 ctrl_type=v,v + halcmd: loadrt siggen + halcmd: loadrt threads name1=fast fp1=0 period1=50000 name2=slow period2=1000000 The first command loads two step generators, both configured to generate stepping type 0. The second command loads our old friend @@ -441,75 +442,59 @@ As before, we can use `halcmd show` to take a look at the HAL. This time we have a lot more pins and parameters than before: - halcmd: *show pin +*Component Pins: - Owner Type Dir Value Name - 3 float IN 1 siggen.0.amplitude - 3 float OUT 0 siggen.0.cosine - 3 float IN 1 siggen.0.frequency - 3 float IN 0 siggen.0.offset - 3 float OUT 0 siggen.0.sawtooth - 3 float OUT 0 siggen.0.sine - 3 float OUT 0 siggen.0.square - 3 float OUT 0 siggen.0.triangle - 3 float OUT 0 stepgen.0.counts - 2 bit OUT FALSE stepgen.0.dir - 2 bit IN FALSE stepgen.0.enable - 2 float IN 0 stepgen.0.position-fb - 2 float OUT 0 stepgen.0.step - 2 bit OUT FALSE stepgen.0.velocity-cmd - 2 s32 OUT 0 stepgen.1.counts - 2 bit OUT FALSE stepgen.1.dir - 2 bit IN FALSE stepgen.1.enable - 2 float IN 0 stepgen.1.position-fb - 2 float OUT 0 stepgen.1.step - 2 bit OUT FALSE stepgen.1.velocity-cmd - - halcmd: *show param +*Parameters: - Owner Type Dir Value Name - 3 s32 RO 0 - siggen.0.update.time - 3 s32 RW 0 - siggen.0.update.tmax - 2 u32 RW 00000001 stepgen.0.dirhold - 2 u32 RW 00000001 stepgen.0.dirsetup - 2 float RO 0 - stepgen.0.frequency - 2 float RW 0 - stepgen.0.maxaccel - 2 float RW 0 - stepgen.0.maxvel - 2 float RW 1 - stepgen.0.position-scale - 2 s32 RO 0 - stepgen.0.rawcounts - 2 u32 RW 00000001 stepgen.0.steplen - 2 u32 RW 00000001 stepgen.0.stepspace - 2 u32 RW 00000001 stepgen.1.dirhold - 2 u32 RW 00000001 stepgen.1.dirsetup - 2 float RO 0 - stepgen.1.frequency - 2 float RW 0 - stepgen.1.maxaccel - 2 float RW 0 - stepgen.1.maxvel - 2 float RW 1 - stepgen.1.position-scale - 2 s32 RO 0 - stepgen.1.rawcounts - 2 u32 RW 00000001 stepgen.1.steplen - 2 u32 RW 00000001 stepgen.1.stepspace - 2 s32 RO 0 - stepgen.capture-position.time - 2 s32 RW 0 - stepgen.capture-position.tmax - 2 s32 RO 0 - stepgen.make-pulses.time - 2 s32 RW 0 - stepgen.make-pulses.tmax - 2 s32 RO 0 - stepgen.update-freq.time - 2 s32 RW 0 - stepgen.update-freq.tmax + halcmd: show pin + Component Pins: + Owner Type Dir Value Name + 4 float IN 1 siggen.0.amplitude + 4 float OUT 0 siggen.0.cosine + 4 float IN 1 siggen.0.frequency + 4 float IN 0 siggen.0.offset + 4 float OUT 0 siggen.0.sawtooth + 4 float OUT 0 siggen.0.sine + 4 float OUT 0 siggen.0.square + 4 float OUT 0 siggen.0.triangle + 3 s32 OUT 0 stepgen.0.counts + 3 bit OUT FALSE stepgen.0.dir + 3 bit IN FALSE stepgen.0.enable + 3 float OUT 0 stepgen.0.position-fb + 3 bit OUT FALSE stepgen.0.step + 3 float IN 0 stepgen.0.velocity-cmd + 3 s32 OUT 0 stepgen.1.counts + 3 bit OUT FALSE stepgen.1.dir + 3 bit IN FALSE stepgen.1.enable + 3 float OUT 0 stepgen.1.position-fb + 3 bit OUT FALSE stepgen.1.step + 3 float IN 0 stepgen.1.velocity-cmd + + halcmd: show param + Parameters: + Owner Type Dir Value Name + 4 s32 RO 0 siggen.0.update.time + 4 s32 RW 0 siggen.0.update.tmax + 3 u32 RW 0x00000001 stepgen.0.dirhold + 3 u32 RW 0x00000001 stepgen.0.dirsetup + 3 float RO 0 stepgen.0.frequency + 3 float RW 0 stepgen.0.maxaccel + 3 float RW 0 stepgen.0.maxvel + 3 float RW 1 stepgen.0.position-scale + 3 s32 RO 0 stepgen.0.rawcounts + 3 u32 RW 0x00000001 stepgen.0.steplen + 3 u32 RW 0x00000001 stepgen.0.stepspace + 3 u32 RW 0x00000001 stepgen.1.dirhold + 3 u32 RW 0x00000001 stepgen.1.dirsetup + 3 float RO 0 stepgen.1.frequency + 3 float RW 0 stepgen.1.maxaccel + 3 float RW 0 stepgen.1.maxvel + 3 float RW 1 stepgen.1.position-scale + 3 s32 RO 0 stepgen.1.rawcounts + 3 u32 RW 0x00000001 stepgen.1.steplen + 3 u32 RW 0x00000001 stepgen.1.stepspace + 3 s32 RO 0 stepgen.capture-position.time + 3 s32 RW 0 stepgen.capture-position.tmax + 3 s32 RO 0 stepgen.make-pulses.time + 3 s32 RW 0 stepgen.make-pulses.tmax + 3 s32 RO 0 stepgen.update-freq.time + 3 s32 RW 0 stepgen.update-freq.tmax === Connecting pins with signals @@ -528,15 +513,15 @@ the velocity input of the first step pulse generator. The first step is to connect the signal to the signal generator output. To connect a signal to a pin we use the net command. - halcmd: *net X-vel <= siggen.0.cosine* + halcmd: net X-vel <= siggen.0.cosine To see the effect of the `net` command, we show the signals again: - halcmd: *show sig* - Signals: - Type Value Name (linked to) - float 0 X_vel - <== siggen.0.cosine + halcmd: show sig + Signals: + Type Value Name (linked to) + float 0 X-vel + <== siggen.0.cosine When a signal is connected to one or more pins, the show command lists the pins immediately following the signal name. The "arrow" shows the @@ -544,7 +529,7 @@ direction of data flow - in this case, data flows from pin `siggen.0.cosine` to signal `X-vel`. Now let's connect the `X-vel` to the velocity input of a step pulse generator: - halcmd: *net X-vel => stepgen.0.velocity-cmd* + halcmd: net X-vel => stepgen.0.velocity-cmd We can also connect up the Y axis signal `Y-vel` . It is intended to run from the sine output of the signal generator @@ -552,21 +537,20 @@ to the input of the second step pulse generator. The following command accomplishes in one line what two `net` commands accomplished for `X-vel`: - halcmd: *net Y-vel siggen.0.sine => stepgen.1.velocity-cmd* + halcmd: net Y-vel siggen.0.sine => stepgen.1.velocity-cmd Now let's take a final look at the signals and the pins connected to them: - halcmd: *show sig* - Signals: - Type Value Name (linked to) - float 0 X-vel - <== siggen.0.cosine - ==> - stepgen.0.velocity - float 0 Y-vel - <== siggen.0.sine - ==> stepgen.1.velocity + halcmd: show sig + Signals: + Type Value Name (linked to) + float 0 X-vel + <== siggen.0.cosine + ==> stepgen.0.velocity-cmd + float 0 Y-vel + <== siggen.0.sine + ==> stepgen.1.velocity-cmd The `show sig` command makes it clear exactly how data flows through the HAL. For @@ -582,12 +566,13 @@ get things done. Thread are the method used to make those instructions run when they are needed. First let's look at the functions available to us: - halcmd: *show funct +*Exported Functions: - Owner CodeAddr Arg FP Users Name - 00004 d8a3a120 d8bd322c YES 0 siggen.0.update - 00003 d8bf45b0 d8bd30b4 YES 0 stepgen.capture-position - 00003 d8bf42c0 d8bd30b4 NO 0 stepgen.make-pulses - 00003 d8bf46b0 d8bd30b4 YES 0 stepgen.update-freq + halcmd: show funct + Exported Functions: + Owner CodeAddr Arg FP Users Name + 00004 f9992000 fc731278 YES 0 siggen.0.update + 00003 f998b20f fc7310b8 YES 0 stepgen.capture-position + 00003 f998b000 fc7310b8 NO 0 stepgen.make-pulses + 00003 f998b307 fc7310b8 YES 0 stepgen.update-freq In general, you will have to refer to the documentation for each component to see what its functions do. In this case, the function @@ -629,11 +614,11 @@ feedback, we don't need to run `stepgen.capture_position` at all. We run functions by adding them to threads. Each thread runs at a specific rate. Let's see what threads we have available: - halcmd: *show thread* - Realtime Threads: - Period FP Name ( Time, Max-Time ) - 988960 YES slow ( 0, 0 ) - 49448 NO fast ( 0, 0 ) + halcmd: show thread + Realtime Threads: + Period FP Name ( Time, Max-Time ) + 996980 YES slow ( 0, 0 ) + 49849 NO fast ( 0, 0 ) The two threads were created when we loaded `threads`. The first one, `slow` , runs every millisecond, and is capable of running floating @@ -645,23 +630,21 @@ point functions to the proper thread, we use the `addf` command. We specify the function first, followed by the thread: - halcmd: *addf siggen.0.update slow* - halcmd: *addf stepgen.update-freq slow* - halcmd: *addf stepgen.make-pulses fast* + halcmd: addf siggen.0.update slow + halcmd: addf stepgen.update-freq slow + halcmd: addf stepgen.make-pulses fast After we give these commands, we can run the `show thread` command again to see what happened: - halcmd: *show thread +*Realtime Threads: - Period FP Name (Time, - Max-Time) - 988960 YES slow ( 0, - 0 ) - 1 siggen.0.update - 2 stepgen.update-freq - 49448 NO fast ( 0, - 0 ) - 1 stepgen.make-pulses + halcmd: show thread + Realtime Threads: + Period FP Name ( Time, Max-Time ) + 996980 YES slow ( 0, 0 ) + 1 siggen.0.update + 2 stepgen.update-freq + 49849 NO fast ( 0, 0 ) + 1 stepgen.make-pulses Now each thread is followed by the names of the functions, in the order in which the functions will run. @@ -685,9 +668,10 @@ exactly what the parameter `stepgen.n.velocity-scale` is for. In this case, both the X and Y axis have the same scaling, so we set the scaling parameters for both to 10000: - halcmd: *setp stepgen.0.position-scale 10000 +*halcmd: *setp - stepgen.1.position-scale 10000 +*halcmd: *setp stepgen.0.enable 1* - halcmd: *setp stepgen.1.enable 1* + halcmd: setp stepgen.0.position-scale 10000 + halcmd: setp stepgen.1.position-scale 10000 + halcmd: setp stepgen.0.enable 1 + halcmd: setp stepgen.1.enable 1 This velocity scaling means that when the pin `stepgen.0.velocity-cmd` is 1.000, the step generator will generate 10000 pulses per second @@ -706,7 +690,7 @@ step pulse generator. We now have everything configured and are ready to start it up. Just like in the first example, we use the `start` command: - halcmd: *start* + halcmd: start Although nothing appears to happen, inside the computer the step pulse generator is cranking out step pulses, varying from 10KHz forward to @@ -728,7 +712,7 @@ module, and a user part that supplies the GUI and display. However, you don't need to worry about this, because the userspace portion will automatically request that the realtime part be loaded. - halcmd: *loadusr halscope* + halcmd: loadusr halscope The scope GUI window will open, immediately followed by a "Realtime function not linked" dialog that looks like the following figure . |